Struct openrr_client::IkClient[−][src]

pub struct IkClient<T> where
    T: JointTrajectoryClient,  {
    pub client: T,
    pub ik_solver_with_chain: Arc<IkSolverWithChain>,
}

Fields

client: Tik_solver_with_chain: Arc<IkSolverWithChain>

Implementations

`impl<T> IkClient<T> where T: JointTrajectoryClient + Send,` [src]

`pub fn new(client: T, ik_solver_with_chain: Arc<IkSolverWithChain>) -> Self`[src]

`pub fn current_end_transform(&self) -> Result<Isometry3<f64>, Error>`[src]

`pub async fn move_ik_with_constraints( &self, target_pose: &Isometry3<f64>, constraints: &Constraints, duration_sec: f64 ) -> Result<(), Error>`[src]

`pub async fn move_ik_with_interpolation_and_constraints( &self, target_pose: &Isometry3<f64>, constraints: &Constraints, duration_sec: f64 ) -> Result<(), Error>`[src]

`pub async fn move_ik( &self, target_pose: &Isometry3<f64>, duration_sec: f64 ) -> Result<(), Error>`[src]

`pub async fn move_ik_with_interpolation( &self, target_pose: &Isometry3<f64>, duration_sec: f64 ) -> Result<(), Error>`[src]

`pub fn transform( &self, relative_pose: &Isometry3<f64> ) -> Result<Isometry3<f64>, Error>`[src]

Get relative pose from current pose of the IK target

`pub fn set_zero_pose_for_kinematics(&self) -> Result<(), Error>`[src]

`pub fn constraints(&self) -> &Constraints`[src]

`pub fn set_joint_positions_clamped(&self, positions: &[f64])`[src]

Trait Implementations

`impl<T> JointTrajectoryClient for IkClient<T> where T: JointTrajectoryClient,` [src]

`fn joint_names(&self) -> &[String]`[src]

`fn current_joint_positions(&self) -> Result<Vec<f64>, Error>`[src]

`fn send_joint_positions<'life0, 'async_trait>( &'life0 self, positions: Vec<f64>, duration: Duration ) -> Pin<Box<dyn Future<Output = Result<(), Error>> + Send + 'async_trait>> where 'life0: 'async_trait, Self: 'async_trait,` [src]

`fn send_joint_trajectory<'life0, 'async_trait>( &'life0 self, trajectory: Vec<TrajectoryPoint> ) -> Pin<Box<dyn Future<Output = Result<(), Error>> + Send + 'async_trait>> where 'life0: 'async_trait, Self: 'async_trait,` [src]

Auto Trait Implementations

`impl<T> !RefUnwindSafe for IkClient<T>`[src]

`impl<T> Send for IkClient<T>`[src]

`impl<T> Sync for IkClient<T>`[src]

`impl<T> Unpin for IkClient<T> where T: Unpin,` [src]

`impl<T> !UnwindSafe for IkClient<T>`[src]

Blanket Implementations

`impl<T> Any for T where T: 'static + ?Sized,` [src]

`pub fn type_id(&self) -> TypeId`[src]

`impl<T> Borrow<T> for T where T: ?Sized,` [src]

`pub fn borrow(&self) -> &T`[src]

`impl<T> BorrowMut<T> for T where T: ?Sized,` [src]

`pub fn borrow_mut(&mut self) -> &mut T`[src]

`impl<T> Downcast for T where T: Any,`

`pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>`

`pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>`

`pub fn as_any(&self) -> &(dyn Any + 'static)`

`pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)`

`impl<T> DowncastSync for T where T: Send + Sync + Any,`

`pub fn into_any_arc(self: Arc<T>) -> Arc<dyn Any + 'static + Send + Sync>`

`impl<T> From<T> for T`[src]

`pub fn from(t: T) -> T`[src]

`impl<T, U> Into for T where U: From<T>,` [src]

`pub fn into(self) -> U`[src]

`impl<T> Same<T> for T`

`type Output = T`

Should always be Self

`impl<SS, SP> SupersetOf<SS> for SP where SS: SubsetOf<SP>,`

`pub fn to_subset(&self) -> Option<SS>`

`pub fn is_in_subset(&self) -> bool`

`pub fn to_subset_unchecked(&self) -> SS`

`pub fn from_subset(element: &SS) -> SP`

`impl<T, U> TryFrom for T where U: Into<T>,` [src]

`type Error = Infallible`

The type returned in the event of a conversion error.

`pub fn try_from(value: U) -> Result<T, <T as TryFrom>::Error>`[src]

`impl<T, U> TryInto for T where U: TryFrom<T>,` [src]

`type Error = >::Error`

The type returned in the event of a conversion error.

`pub fn try_into(self) -> Result<U, >::Error>`[src]

`impl<V, T> VZip<V> for T where V: MultiLane<T>,`

`pub fn vzip(self) -> V`

Struct openrr_client::IkClient[−][src]

Fields

Implementations

impl<T> IkClient<T> where T: JointTrajectoryClient + Send, [src]

pub fn new(client: T, ik_solver_with_chain: Arc<IkSolverWithChain>) -> Self[src]

pub fn current_end_transform(&self) -> Result<Isometry3<f64>, Error>[src]

pub async fn move_ik_with_constraints( &self, target_pose: &Isometry3<f64>, constraints: &Constraints, duration_sec: f64) -> Result<(), Error>[src]

pub async fn move_ik_with_interpolation_and_constraints( &self, target_pose: &Isometry3<f64>, constraints: &Constraints, duration_sec: f64) -> Result<(), Error>[src]

pub async fn move_ik( &self, target_pose: &Isometry3<f64>, duration_sec: f64) -> Result<(), Error>[src]

pub async fn move_ik_with_interpolation( &self, target_pose: &Isometry3<f64>, duration_sec: f64) -> Result<(), Error>[src]

pub fn transform( &self, relative_pose: &Isometry3<f64>) -> Result<Isometry3<f64>, Error>[src]

pub fn set_zero_pose_for_kinematics(&self) -> Result<(), Error>[src]

pub fn constraints(&self) -> &Constraints[src]

pub fn set_joint_positions_clamped(&self, positions: &[f64])[src]

Trait Implementations

impl<T> JointTrajectoryClient for IkClient<T> where T: JointTrajectoryClient, [src]

fn joint_names(&self) -> &[String][src]

fn current_joint_positions(&self) -> Result<Vec<f64>, Error>[src]

fn send_joint_positions<'life0, 'async_trait>( &'life0 self, positions: Vec<f64>, duration: Duration) -> Pin<Box<dyn Future<Output = Result<(), Error>> + Send + 'async_trait>> where 'life0: 'async_trait, Self: 'async_trait, [src]

fn send_joint_trajectory<'life0, 'async_trait>( &'life0 self, trajectory: Vec<TrajectoryPoint>) -> Pin<Box<dyn Future<Output = Result<(), Error>> + Send + 'async_trait>> where 'life0: 'async_trait, Self: 'async_trait, [src]

Auto Trait Implementations

impl<T> !RefUnwindSafe for IkClient<T>[src]

impl<T> Send for IkClient<T>[src]

impl<T> Sync for IkClient<T>[src]

impl<T> Unpin for IkClient<T> where T: Unpin, [src]

impl<T> !UnwindSafe for IkClient<T>[src]

Blanket Implementations

impl<T> Any for T where T: 'static + ?Sized, [src]

pub fn type_id(&self) -> TypeId[src]

impl<T> Borrow<T> for T where T: ?Sized, [src]

pub fn borrow(&self) -> &T[src]

impl<T> BorrowMut<T> for T where T: ?Sized, [src]

pub fn borrow_mut(&mut self) -> &mut T[src]

impl<T> Downcast for T where T: Any,

pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>

pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>

pub fn as_any(&self) -> &(dyn Any + 'static)

pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)

impl<T> DowncastSync for T where T: Send + Sync + Any,

pub fn into_any_arc(self: Arc<T>) -> Arc<dyn Any + 'static + Send + Sync>

impl<T> From<T> for T[src]

pub fn from(t: T) -> T[src]

impl<T, U> Into<U> for T where U: From<T>, [src]

pub fn into(self) -> U[src]

impl<T> Same<T> for T

type Output = T

impl<SS, SP> SupersetOf<SS> for SP where SS: SubsetOf<SP>,

pub fn to_subset(&self) -> Option<SS>

pub fn is_in_subset(&self) -> bool

pub fn to_subset_unchecked(&self) -> SS

pub fn from_subset(element: &SS) -> SP

impl<T, U> TryFrom<U> for T where U: Into<T>, [src]

type Error = Infallible

pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>[src]

impl<T, U> TryInto<U> for T where U: TryFrom<T>, [src]

type Error = <U as TryFrom<T>>::Error

pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>[src]

impl<V, T> VZip<V> for T where V: MultiLane<T>,

pub fn vzip(self) -> V